package com.ld.control.common.equipment.param;

/**
 * 傲博机械臂对应的驱动定义方法
 */
public class HuiLingRobotMethodParamConstant {

    // 拿取动作
    public static class Pick {
        public final static String internalMethodName = "Pick_Hui_Ling_Ext";//内部设备方法名称
        public final static String methodName = "Pick"; //原始方法名
        public final static String targetPoint = "targetPoint"; //目标点位
        public final static String targetSafePoint = "targetSafePoint"; //目标原始点位

        public final static String targetPoint_XYZ = "targetPoint_XYZ";
        public final static String targetSafePoint_XYZ = "targetSafePoint_XYZ";
        public final static String jawDistance = "jawDistance"; //夹爪推压行程
        public final static String jawForceLimit = "jawForceLimit"; //夹爪推压力度
        public final static String initDistance = "initDistance"; //在夹之前先绝对运到到这个位置
    }

    public static class Place {
        public final static String internalMethodName = "Place_Hui_Ling_Ext";//内部设备方法名称
        public final static String methodName = "Place"; //原始方法名
        public final static String targetPoint = "targetPoint"; //目标点位
        public final static String targetSafePoint = "targetSafePoint"; //目标原始点位

        public final static String targetPoint_XYZ = "targetPoint_XYZ";
        public final static String targetSafePoint_XYZ = "targetSafePoint_XYZ";
        public final static String initDistance = "initDistance"; //在夹之前先绝对运到到这个位置
    }

    public static class SingleAction {
        public final static String internalMethodName = "SingleAction_Hui_Ling_Ext";//内部设备方法名称
        public final static String methodName = "SingleAction"; //原始方法名
        public final static String targetPoint = "targetPoint"; //目标点位

        public final static String targetPoint_XYZ = "targetPoint_XYZ";
        public final static String initDistance = "initDistance"; //夹爪到达指定行程
    }

    public static class DoubleAction {
        public final static String internalMethodName = "DoubleAction_Hui_Ling_Ext";//内部设备方法名称
        public final static String methodName = "DoubleAction"; //原始方法名
        public final static String targetPoint = "targetPoint"; //目标点位
        public final static String targetSafePoint = "targetSafePoint"; //目标点位安全位

        public final static String targetPoint_XYZ = "targetPoint_XYZ";
        public final static String targetSafePoint_XYZ = "targetSafePoint_XYZ";
        public final static String initDistance = "initDistance"; //夹爪到达指定行程
    }


}
